diff --git a/src/MeasurementComplexItem/MeasurementComplexItem.cc b/src/MeasurementComplexItem/MeasurementComplexItem.cc
index 4a09a24190eab8711d48d273e425c4d59dfde0ad..41262996d26ddbef68e326bb5a51f15a1b880f33 100644
--- a/src/MeasurementComplexItem/MeasurementComplexItem.cc
+++ b/src/MeasurementComplexItem/MeasurementComplexItem.cc
@@ -20,8 +20,6 @@
 #include <boost/units/io.hpp>
 #include <boost/units/systems/si.hpp>
 
-#define CLIPPER_SCALE 1000000
-
 QGC_LOGGING_CATEGORY(MeasurementComplexItemLog, "MeasurementComplexItemLog")
 
 template <typename T>
@@ -39,8 +37,7 @@ const QString MeasurementComplexItem::name(tr("Measurement"));
 MeasurementComplexItem::MeasurementComplexItem(
     PlanMasterController *masterController, bool flyView,
     const QString &kmlOrShpFile, QObject *parent)
-    : ComplexMissionItem(masterController, flyView, parent),
-      _masterController(masterController), _sequenceNumber(0),
+    : ComplexMissionItem(masterController, flyView, parent), _sequenceNumber(0),
       _followTerrain(false), _state(STATE::IDLE),
       _metaDataMap(FactMetaData::createMapFromJsonFile(
           QStringLiteral(":/json/MeasurementComplexItem.SettingsGroup.json"),
@@ -86,9 +83,15 @@ MeasurementComplexItem::MeasurementComplexItem(
       }
     }
   });
+
+  // Connect readyForSave
   connect(this, &MeasurementComplexItem::idleChanged, this,
           &MeasurementComplexItem::readyForSaveStateChanged);
 
+  // Connect flightPathSegments
+  connect(this, &MeasurementComplexItem::routeChanged, this,
+          &MeasurementComplexItem::_updateFlightpathSegments);
+
   // Connect complexDistance.
   connect(this, &MeasurementComplexItem::routeChanged,
           [this] { emit this->complexDistanceChanged(); });
@@ -385,6 +388,43 @@ bool MeasurementComplexItem::_idle(MeasurementComplexItem::STATE state) {
   return state == STATE::IDLE;
 }
 
+void MeasurementComplexItem::_updateFlightpathSegments() {
+  if (_cTerrainCollisionSegments != 0) {
+    _cTerrainCollisionSegments = 0;
+    emit terrainCollisionChanged(false);
+    qCritical() << "add alt color here...";
+  }
+
+  _flightPathSegments.beginReset();
+  _flightPathSegments.clearAndDeleteContents();
+
+  if (_route.size() > 2) {
+    bool ok = false;
+    double alt = _altitude.rawValue().toDouble(&ok) +
+                 _masterController->missionController()
+                     ->plannedHomePosition()
+                     .altitude();
+    if (ok) {
+      auto prev = _route.cbegin();
+      for (auto next = _route.cbegin() + 1; next != _route.end(); ++next) {
+        auto v1 = prev->value<QGeoCoordinate>();
+        auto v2 = next->value<QGeoCoordinate>();
+        _appendFlightPathSegment(v1, alt, v2, alt);
+        prev = next;
+      }
+    } else {
+      qCCritical(MeasurementComplexItemLog) << "_altitude fact not ok.";
+    }
+  }
+
+  _flightPathSegments.endReset();
+
+  if (_cTerrainCollisionSegments != 0) {
+    emit terrainCollisionChanged(true);
+  }
+
+  _masterController->missionController()->recalcTerrainProfile();
+}
 void MeasurementComplexItem::_setAreaData(
     MeasurementComplexItem::PtrAreaData data) {
   if (_pCurrentData != data) {
diff --git a/src/MeasurementComplexItem/MeasurementComplexItem.h b/src/MeasurementComplexItem/MeasurementComplexItem.h
index 836ec2dedff6b47f1067b1595efe18f3f07451f5..adba43f7ed4a0dafd0b7026a7023dbed63f7c5e4 100644
--- a/src/MeasurementComplexItem/MeasurementComplexItem.h
+++ b/src/MeasurementComplexItem/MeasurementComplexItem.h
@@ -174,9 +174,9 @@ private:
   static bool _calculating(STATE state);
   static bool _editing(STATE state);
   static bool _idle(STATE state);
+  void _updateFlightpathSegments();
 
   // Hirarcical stuff.
-  PlanMasterController *_masterController;
   int _sequenceNumber;
   bool _followTerrain;
 
diff --git a/src/MeasurementComplexItem/qml/ParameterEditor.qml b/src/MeasurementComplexItem/qml/ParameterEditor.qml
index be7897e08a872ee45cc7f51ea20bf9ee398cb747..bd06a848ad90ab12ca0894475834c6afb0d14370 100644
--- a/src/MeasurementComplexItem/qml/ParameterEditor.qml
+++ b/src/MeasurementComplexItem/qml/ParameterEditor.qml
@@ -58,7 +58,15 @@ ColumnLayout {
         columns:        2
         visible:        generalHeader.checked
 
-        QGCLabel { text: qsTr("Altitude!!!") }
+        QGCLabel {
+            text: qsTr("Altitude")
+            Layout.fillWidth: true
+        }
+        FactTextField {
+            fact:                   missionItem.altitude
+            Layout.fillWidth:       true
+        }
+
         QGCLabel { text: qsTr("Relative Altitude!!!") }
 
         QGCLabel {